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Study of error compensations and sensitivity analysis for 6-Dof serial robot

Xi Luo (School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China)
Yingjie Zhang (School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China)
Lin Zhang (School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China)

Engineering Computations

ISSN: 0264-4401

Article publication date: 12 October 2020

Issue publication date: 17 June 2021

291

Abstract

Purpose

The purpose of this paper is to improve the positioning accuracy of 6-Dof serial robot by the way of error compensation and sensitivity analysis.

Design/methodology/approach

In this paper, the Denavit–Hartenberg matrix is used to construct the kinematics models of the robot; the effects from individual joint and several joints on the end effector are estimated by simulation. Then, an error model based on joint clearance is proposed so that the positioning accuracy at any position of joints can be predicted for compensation. Through the simulation of the curve path, the validity of the error compensation model is verified. Finally, the experimental results show that the error compensation method can improve the positioning accuracy of a two joint exoskeleton robot by nearly 76.46%.

Findings

Through the analysis of joint error sensitivity, it is found that the first three joints, especially joint 2, contribute a lot to the positioning accuracy of the robot, which provides guidance for the accuracy allocation of the robot. In addition, this paper creatively puts forward the error model based on joint clearance, and the error compensation method which decouples the positioning accuracy into joint errors.

Originality/value

It provides a new idea for error modeling and error compensation of 6-Dof serial robot. Combining sensitivity analysis results with error compensation can effectively improve the positioning accuracy of the robot, and provide convenience for welding robot and other robots that need high positioning accuracy.

Keywords

Acknowledgements

This project is supported by National Natural Science Foundation of China (Grant No. 51875445).

Citation

Luo, X., Zhang, Y. and Zhang, L. (2021), "Study of error compensations and sensitivity analysis for 6-Dof serial robot", Engineering Computations, Vol. 38 No. 4, pp. 1851-1868. https://doi.org/10.1108/EC-03-2020-0128

Publisher

:

Emerald Publishing Limited

Copyright © 2020, Emerald Publishing Limited

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